JP2756629B2 - Adaptive control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an adaptive control apparatus which cancels out noises synchronized with an engine, that is, periodic noises such as vibrations or noises in the interior of an automobile by using an adaptive filter.

[0002]

2. Description of the Related Art In recent years, adaptive control devices have been attracting attention as highly flexible controls for controlling machines and the like while adapting to the surrounding environment. Attention is particularly focused on the structure because it is simple.

Hereinafter, an example of the above-mentioned conventional adaptive control device will be described with reference to the drawings. FIG. 7 shows a schematic configuration of a conventional adaptive control device. 7, reference numeral 71 denotes a trigger pulse detecting means, 72 is an adaptive filter, 73 is a coefficient updating means, 74 is an actuator, 75
Is a sensor, 76 is a transfer characteristic compensating filter, and 77 is a transfer characteristic conversion means.

The operation of the adaptive control device configured as described above will be described below. In FIG. 7, a pulse synchronized with external vibration noise, for example, vibration such as engine vibration, is detected by a trigger pulse detecting means 71 and input to an adaptive filter 72. In the case of a rotating machine such as an engine, such a pulse can be easily realized by a rotation sensor or the like that generates a pulse at each minute angle of a rotating body. In the case of automobiles, the ECU for engine control monitors the cam and crank rotation pulse signals,
It is also possible to use it. Adaptive filter 72
Outputs a control signal to the actuator 74 to generate vibration, and the vibration of the actuator 74 is added to the vibration noise at a point where control is desired, and the resulting error is detected by the sensor 75 as an electric signal, It is sent to the updating means 73.

[0005] The adaptive filter 72 is a filter that uses the pulse detected by the trigger pulse detecting means 71 as a trigger and sequentially outputs the tap value of the adaptive filter 72. It has the same number of taps as the quotient obtained by dividing the number of pulses output per unit by the lowest order of the vibration to be controlled. For example, assuming that 50 pulses are output per one revolution of the engine, and the lowest order of the vibration to be controlled is 1st order, there are 50/1 = 50 taps. Thus, an output that is always synchronized with the vibration of the control target can be obtained.

On the other hand, the coefficient updating means 73 is obtained by inputting the error detected by the sensor 75 as an electric signal and the transfer characteristic converting means 77 for converting the output of the transfer characteristic compensating filter 76 into the frequency of the present trigger pulse signal. Using the obtained transfer characteristic compensation signal, the tap coefficient of the adaptive filter 72 is updated by an algorithm such as a synchronous LMS. In general, the output delay of the actuator 74 and the transfer characteristics from the actuator 74 to the sensor 75 are stored in the transfer characteristic compensation filter 76 in advance, and by referring to it, the adaptive filter X algorithm is used to obtain the delay. Of the adaptive filter is considered in advance. At this time, since the characteristic of the transfer characteristic compensating filter 76 depends on the sampling frequency, in the present apparatus whose output frequency changes according to the engine speed, a transfer characteristic converting means 77 for converting the characteristic is required.

As described above, even with the above-mentioned conventional adaptive control device, it is possible to cancel out periodic noise synchronized with the engine, such as noise in the interior of an automobile.

[0008]

However, the conventional adaptive control apparatus has a problem that when periodic noise is mixed with non-periodic noise, the periodic noise cannot be completely eliminated. For this reason, some conventional adaptive control devices include a filter that compensates for the actuator, but it is impossible to completely compensate for the delay of the actuator using the actuator compensation filter, and especially non-periodic noise is mixed. In such a case, the compensation could not be completed, and the output phase was shifted to cause a malfunction.
Also, in order to avoid such a malfunction, if the update amount of the adaptive filter at one time is reduced, that is, if the gain of the control system is reduced, the convergence speed becomes slow, and changes in the surrounding environment, for example, a change in the period of noise, occur. However, there was a problem that it was difficult to respond.

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide an excellent adaptive control device capable of canceling periodic noise without malfunction and without delay even from noise in which aperiodic noise is mixed. Things. The present invention
Quickly cancels noise, whether periodic or aperiodic
To provide an excellent adaptive control device that can
It is the target.

[0010]

In order to solve the above-mentioned problems, an adaptive control device according to the present invention uses a non-periodicity based on an output error which is a differential signal between input noise and an actuator output operated by a filter output. It comprises a periodic signal separating means for separating an error from a periodicity error, and an adaptive filter for setting a filter coefficient using the periodicity error. In addition to the above-described configuration, the present invention also provides a non-circular output error.
Phase compensation for the periodic component
A phase compensating filter for eliminating the minute component is provided.

[0011]

According to the present invention, only the periodic error from the periodic and aperiodic errors can be eliminated by the above configuration, so that the periodic error can be eliminated without being affected by the aperiodic error. Errors can be eliminated in a short time. Departure
In addition, the above configuration allows not only periodic errors but also
And non-periodic errors can be eliminated in a short time.
You.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an adaptive control device according to the present invention will be described below with reference to the drawings. FIG. 1 shows the first embodiment of the present invention.
1 shows a schematic configuration of an adaptive control device according to an embodiment of the present invention. In FIG. 1, reference numeral 11 denotes a reference signal detecting unit, 12 denotes an adaptive filter, 13 denotes a coefficient updating unit, 14 denotes an actuator which is an electromechanical converting unit, 15 denotes a sensor which is an error signal detecting unit, and 16 denotes a sensor from the adaptive filter 12 to a sensor 15.
Transfer characteristic compensating filter that previously identified the transfer characteristics up to
17 is a periodic signal separating means.

FIG. 2 shows a schematic configuration of the periodic signal separating means 17 used in the first embodiment of the present invention. In FIG. 2, 21 is a delay element, 22 is an adaptive filter, 2
Reference numeral 3 denotes coefficient updating means.

Next, the operation of the first embodiment will be described. In FIG. 1, first, a reference signal detected by a reference signal detecting means 11 is filtered by an adaptive filter 12, and a control signal is output to an actuator 14. The reference signal is usually the part of the vibration that you want to control,
For example, in the case of a car, it is detected from the engine. On the other hand, external vibration noise, for example, engine vibration, is added to the output of the actuator 14 as input noise. The error resulting from the addition is detected as an electric signal by the sensor 15 and separated into a periodic error and an aperiodic error by the periodic signal separating means 17. Sent to The coefficient updating unit 13 uses the periodicity error extracted by the periodic signal separating unit 17 and the transfer characteristic compensation signal obtained by passing the reference signal through the transfer characteristic compensation filter 16 to change the tap coefficient of the adaptive filter 12 to LMS. Update using an algorithm such as
In the present embodiment, the output delay of the actuator 14 and the transfer characteristics from the actuator 14 to the sensor 15 are stored in the transfer characteristic compensating filter 16 in advance, and the filtered X algorithm for updating the adaptive filter 12 with reference to these is stored. Is used, the adaptive filter 12 is updated in consideration of those delays.

When such an adaptive control device is used to eliminate vibrations such as engine vibrations of an automobile, the control of a periodicity error is mainly performed. In this case, a large vibration generated due to a cause other than the vibration desired to be controlled in the error signal, for example, a non-periodic vibration generated due to a car traveling on a bumpy road, is caused by a signal S when controlling the vibration of the engine. / N
And it becomes a major factor that lacks robustness of control.

Therefore, by using the periodic signal separating means 17 for such a non-periodic signal different from the periodic signal originally desired to be controlled, the S / N is improved, and the convergence and robustness are improved. Improve.

Next, the operation of the periodic signal separating means 17 in the above embodiment will be described with reference to FIG. The vibration noise detected by the sensor 15 is input to the adaptive filter 22 and the delay element 21 as input noise. The signal filtered by the adaptive filter 22 is applied to the delay element 2
The difference from the signal appropriately delayed by 1 is taken, and LMS is performed by the coefficient updating means 23 so that the square of the difference becomes 0.
The coefficient of the adaptive filter 22 is updated by an algorithm or the like. Accordingly, the adaptive filter 22 is updated so as to output its own past signal having a correlation with the current own signal among the input noises. Therefore, the signal such as the random noise having the autocorrelation of 0 is Only periodic signals that have been removed by passing through the adaptive filter 22 and have a correlation in the past are output.

As described above, according to the first embodiment,
Since there is provided a periodic signal separating means 17 for separating an aperiodic error and a periodicity error from an output error which is a differential signal between the input noise and the output of the adaptive filter 12, the periodicity error is used. By operating the adaptive filter 12 in this way, malfunctions due to non-periodic errors included in the output error can be prevented, and the periodic errors can be canceled in a short time.

FIG. 3 shows a schematic configuration of the periodic signal separating means used in the second embodiment of the present invention. The overall configuration of the adaptive control device is the same as that of the first embodiment shown in FIG. In FIG. 3, reference numeral 31 denotes a synchronizing pulse generation unit;
2 is an adaptive filter, 33 is a coefficient updating means, 34 is an adaptive filter
2 is a synchronous circuit that locks the output again.

Next, the operation of the second embodiment will be described. In the first embodiment shown in FIG. 1, a periodic component or the like synchronized with the vibration of the drive wheels is also separated due to the characteristics of the control target, so that a sufficient effect may not be obtained. By changing the configuration of the periodic signal separating means 17 as shown in FIG. 3 so as to cope with a periodic signal having a cycle different from the periodic signal originally desired to be controlled, S
/ N can be further improved, and convergence and robustness can be improved.

In FIG. 3, first, the synchronization pulse generating means 3
1 is input to the adaptive filter 32 in the form of a pulse signal that is primarily synchronized with the lower-order vibration having the longest oscillation period and desired control. The signal filtered by the adaptive filter 32 takes a difference from the input noise signal detected by the sensor 15, and the coefficient updating means 33 uses the synchronous LMS algorithm or the like in the coefficient updating means 33 so that the square of the difference becomes zero. The coefficient is updated. As a result, the adaptive filter 32 is updated so as to output a signal having a correlation with the pulse signal of the input noise, that is, a signal synchronized with the first or higher order, and separates and extracts only the vibration component having a correlation with the pulse from the input noise. be able to.

On the other hand, since the number of revolutions of the engine is constantly changing, it is not unusual that the next pulse is output from the synchronous pulse generating means 31 during the output of the adaptive filter 32.
Therefore, the adaptive filter 32 has a tap length that can sufficiently cope with the relationship between the output lock frequency and the longest period of the above-described oscillation period. When the next pulse is output from the synchronization pulse generation unit 31, the synchronization circuit 34 Since the currently output tap coefficient is set to 0 and the output of the adaptive filter 32 is reset and output from the tap 0 again, the synchronization with the pulse can always be maintained.

In the second embodiment, for example, the adaptive filter 12 in the first embodiment shown in FIG.
Can be used as the above-mentioned periodic pulse, and the S / N can be improved by the periodic signal separating means 17 while operating the whole as a synchronous adaptive filter.

As described above, when the periodic signal separating means 17 has a group delay due to its configuration, the periodic signal separating means 17 is also operated when the transfer characteristic compensating filter 16 is identified, and the transfer characteristic including the delay element is identified in advance. You may have to keep it.

FIG. 4 shows a schematic configuration of an adaptive control device according to a third embodiment of the present invention. In FIG.
41 is a trigger pulse detecting means, 42 is an adaptive filter,
43 is a coefficient updating means, 44 is an actuator which is an electromechanical converting means, 45 is a sensor which is an error signal detecting means,
Reference numeral 46 denotes a transfer characteristic compensating filter for previously identifying transfer characteristics from the adaptive filter 42 to the sensor 45; 47, a transfer characteristic conversion unit for converting the transfer characteristics into the frequency of the detected trigger pulse signal; and 48, a periodic signal separating unit. .

FIG. 5 shows a schematic configuration of the periodic signal separating means 48 used in the third embodiment of the present invention. In FIG. 5, reference numeral 51 denotes a synchronization pulse generating means, 52 denotes an adaptive filter, and 53 denotes a coefficient updating means. Reference numeral 41 is the same as the trigger pulse detecting means 41 in FIG.

Next, the operation of the third embodiment will be described. In FIG. 4, an external vibration noise, for example, a pulse synchronized with the vibration of the engine is detected by a trigger pulse detecting means 41 and input to an adaptive filter 42. In the case of a rotating machine such as an engine, such a pulse can be easily realized by a rotation sensor or the like that generates a pulse at each minute angle of a rotating body. In the case of a car, the ECU for engine control monitors the rotation pulse signal of the cam and the crank, so that it can be used. The adaptive filter 42 outputs a control signal to the actuator 44, and the output of the actuator 44 is added to the vibration noise at a point where control is desired, and the resulting error is detected by the sensor 45 as an electric signal. The periodic signal separating unit 48 separates the periodicity error and the non-periodicity error into each other.
Sent to

The adaptive filter 42 is a filter that uses the pulse detected by the trigger pulse detecting means 41 as a trigger to sequentially output the value of the tap of the adaptive filter 42. It has the same number of taps as the quotient obtained by dividing the number of pulses output per unit by the lowest order of the vibration to be controlled. For example, assuming that 50 pulses are output per one revolution of the engine, and the lowest order of the vibration to be controlled is 1st order, there are 50/1 = 50 taps. Thus, an output that is always synchronized with the vibration of the control target can be obtained.

On the other hand, the coefficient updating means 43 inputs the periodicity error extracted by the periodic signal separating means 48 and the output of the transfer characteristic compensating filter 46 to the transfer characteristic converting means 47 for converting the output of the transfer characteristic compensating filter 46 to the current frequency of the trigger pulse signal. Using the transfer characteristic compensation signal obtained as described above, the tap coefficient of the adaptive filter 42 is updated by an algorithm such as a synchronous LMS. Also in the present embodiment, the output delay of the actuator 44 and the transfer characteristic from the actuator 44 to the sensor 45 are stored in the transfer characteristic compensation filter 47 in advance, and the adaptive filtered X algorithm is used with reference to the stored result. The adaptive filter 42 is updated in consideration of those delays. At this time, since the transfer characteristic compensating filter 46 has its characteristic dependent on the sampling frequency, in this embodiment the output frequency changes according to the engine speed, the transfer characteristic conversion means 47 converts the characteristic.
Is required.

Next, the operation of the periodic signal separating means 48 in the above embodiment will be described. In FIG. 5, a pulse signal generated by the synchronization pulse generation unit 51 and primarily synchronized with the lowest-order vibration desired to be controlled is input to the adaptive filter 52. The simplest method is to obtain the synchronization pulse signal by dividing the frequency of the trigger signal detected by the trigger pulse detection means 41. Adaptive filter 52
The signal filtered by the filter takes the difference from the input noise signal detected by the sensor 45, and the coefficient of the adaptive filter 52 is updated by a synchronous LMS algorithm or the like in the coefficient updating means 53 so that the square of the difference becomes zero. Is done. Thereby, the adaptive filter 52 is updated so as to output a signal having a correlation with the pulse signal of the input noise, that is, a signal synchronized with the first or higher order, and separates and extracts only the vibration component having the correlation with the pulse from the input noise. can do.

At this time, the adaptive filter 52 has the same tap length as the adaptive filter 42 shown in FIG. 4 and outputs its own tap value sequentially using the pulse detected by the trigger pulse detecting means 41 as a trigger. , The same operation as the adaptive filter 42 of FIG. Therefore, a trigger signal synchronized with a change in the engine speed can be detected, and synchronization with the pulse is always maintained.

In the third embodiment, it is needless to say that periodic signal separating means having another configuration, for example, the periodic signal separating means shown in FIGS. 2 and 3 can be used.

FIG. 6 shows a schematic configuration of an adaptive control device according to a fourth embodiment of the present invention. In FIG.
61 is a trigger pulse detecting means, 62 is an adaptive filter,
63 is a coefficient updating means, 64 is an actuator which is an electromechanical converting means, 65 is a sensor which is an error signal detecting means,
66 is a transfer characteristic compensating filter for previously identifying the transfer characteristic from the adaptive filter 62 to the sensor 65, 67 is a transfer characteristic converting means for converting the transfer characteristic into the frequency of the detected trigger pulse signal, 68 is a periodic signal separating means, 69 Is a phase compensation filter. The configuration is the same as that of the third embodiment shown in FIGS. 4 and 5 except that the phase compensation filter 69 is added. Therefore, as shown in FIGS.
The periodic signal separating means can also be used in the fourth embodiment of the present invention.
Needless to say,

Next, the operation of the fourth embodiment of the present invention will be described with reference to FIG. The difference from the third embodiment shown in FIG. 4 is that after the periodic error and the non-periodic error are separated by the periodic signal separating means 68, the non-periodic error is also passed through the phase compensation filter 69. This is the point added to the output of the adaptive filter 62. The phase compensation filter 69 compensates for a phase delay caused by the actuator 64 so that the control system does not oscillate.

As described above, according to the fourth embodiment,
Since another control system is configured to cancel non-periodic noise, the noise can be canceled regardless of periodicity or non-periodicity.

The present invention is not limited to the above embodiments. For example, it is possible to insert a periodic signal separating means after the reference signal detecting means.

[0037]

As described above, according to the present invention, the periodic noise
A non-periodic error and a periodic error are separated by a periodic signal separating means from an output error which is a differential signal between input noise including aperiodic noise and an actuator output operated by an adaptive filter output . Since the adaptive filter is operated using the separated error signal, malfunction due to non-periodic error included in the output error can be prevented, and the periodic error can be canceled quickly. Has the effect of being able to respond to The present invention also provides a phase compensation filter in addition to the above effects.
Phase compensation for non-periodic components of output error
To be erased, so whether it is periodic or non-periodic
The input noise can be canceled quickly.
Have fruit.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic configuration of an adaptive control device according to a first embodiment of the present invention;

FIG. 2 is a block diagram showing a schematic configuration of a periodic signal separating means used in the first embodiment of the present invention.

FIG. 3 is a block diagram showing a schematic configuration of a periodic signal separating means used in a second embodiment of the present invention;

FIG. 4 is a block diagram showing a schematic configuration of an adaptive control device according to a third embodiment of the present invention.

FIG. 5 is a block diagram showing a schematic configuration of a periodic signal separating means used in a third embodiment of the present invention.

FIG. 6 is a block diagram showing a schematic configuration of an adaptive control device according to a fourth embodiment of the present invention.

FIG. 7 is a block diagram showing a schematic configuration of a conventional adaptive control device.

[Explanation of symbols]

11 Reference signal detecting means 12, 22, 32, 42, 52, 62, 72 Adaptive filter 13, 23, 33, 43, 53, 63, 73 Coefficient updating means 14, 44, 64, 74 Actuator 15, 45, 65, 75 Sensor 16, 46, 66, 76 Transfer characteristic compensation filter 17, 48, 68 Periodic signal separation means 21 Delay element 31, 51 Synchronization pulse generation means 34 Synchronization circuit 41, 61, 71 Trigger pulse detection means 47, 67, 77 Transmission Characteristic conversion means 69 Phase compensation filter

Continuation of front page (72) Inventor Takeshi Okada 4-3-1 Tsunashima Higashi, Kohoku-ku, Yokohama-shi, Kanagawa Prefecture Inside Matsushita Communication Industrial Co., Ltd. (56) References JP-A-6-149269 (JP, A) JP-A-6-110469 (JP, A) JP-A-4-128895 (JP, A) JP-A-3-204354 (JP, A) JP-A-5-11770 (JP, A) JP-A-4-352197 (JP , A)

Claims (3)

(57) [Claims] A periodic signal separating means for separating 1. A periodic signal, an adaptive filter for eliminating periodic components of the input noise, to operate the input noise at the adaptive filter output
Coefficient updating means for correcting the coefficient of the adaptive filter using a periodic error component extracted by the periodic signal separating means from an output error which is a differential signal with respect to the actuator output, and a non-periodic component of the output error. Phase compensation
To eliminate the non-periodic component of the input noise.
An adaptive control device including a compensation filter . 2. The method according to claim 1 , wherein the periodic signal separating means includes: a delay element;
The difference between the output that passes the input signal through the delay element and the filter output
Adaptive Filter Forming Filter Coefficients to Eliminate
And the filter coefficient is output from the delay element output and the filter output.
Coefficient updating means for correcting using a difference with force
Item 7. The adaptive control device according to Item 1 . 3. The method according to claim 2, wherein the periodic signal separating means determines a period of the input noise.
Filter coefficient sequentially for each time obtained by dividing the period of the sex component into N
Synchronous adaptive filter consisting of N taps that output
Filter, an input noise and an adaptive filter output.
The output error, which is a differential signal with the actuator output,
The synchronous adaptive filter is calculated using the difference from the output of the adaptive filter.
Requesting means for updating a tap of a filter
Item 7. The adaptive control device according to Item 1 .